Siemens SINUMERIK 840D sl Commissioning Manual page 507

Offset vectors I1 to I4
T he vectors always contain three components, which represent the reference to the machine
axes (X, Y, Z). The positions in the kinematic chain are measured by the machine
manufacturer; they are always relevant with respect to a swivel head / swivel table (swivel
data set). Offset vectors I1 to I4 refer to the non-swiveled state of the rotary axes (machine
kinematics basic setting).
The machine kinematics used do not need to be fully implemented. However, be aware that
the traversing range in the swivel planes may be restricted. If machine kinematics are to be
implemented with just one rotary axis, this must always be declared as the 1st rotary axis.
$TC_CARR1[n],
$TC_CARR4[n],
$TC_CARR15[n],
$TC_CARR18[n],
Rotary axis vectors V1 and V2
$TC_CARR7[n],
$TC_CARR10[n],
Kinematic types $TC_CARR23[n]
Selection:
● Swivel head (type T)
● Swivel table (type P)
● Swivel head + swivel table (type M)
Swivel head (type T)
Offset vector I1
Rotary axis vector V1
Offset vector I2
Rotary axis vector V2
Offset vector I3
SINUMERIK Operate (IM9)
Commissioning Manual, 03/2013, 6FC5397-1DP40-3BA1
$TC_CARR2[n],
$TC_CARR5[n],
$TC_CARR16[n],
$TC_CARR19[n],
$TC_CARR8[n], $TC_CARR9[n]
$TC_CARR11[n], $TC_CARR12[n]
Swivel table (type P)
Offset vector I2
Rotary axis vector V1
Offset vector I3
Rotary axis vector V2
Offset vector I4
$TC_CARR3[n]
$TC_CARR6[n]
$TC_CARR17[n]
$TC_CARR20[n]
Rotary axis vector V1xyz
Rotary axis vector V2xyz
Swivel head + swivel table (type M)
Offset vector I1
Rotary axis vector V1
Offset vector I2
Offset vector I3
Rotary axis vector V2
Offset vector I4
Configuring cycles
22.6 Swiveling
Offset vector I1xyz
Offset vector I2xyz
Offset vector I3xyz
Offset vector I4xyz
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